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/*#######################################################################################*/
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/*#######################################################################################*/
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/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
2
/* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
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/*#######################################################################################*/
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/*#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5
// + Copyright (c) 2010 Ingo Busker, Holger Buss
5
// + Copyright (c) 2010 Ingo Busker, Holger Buss
6
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
6
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
7
// + FOR NON COMMERCIAL USE ONLY
7
// + FOR NON COMMERCIAL USE ONLY
8
// + www.MikroKopter.com
8
// + www.MikroKopter.com
9
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
11
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
13
// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
17
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
18
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
20
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
22
// + eindeutig als Ursprung verlinkt werden
22
// + eindeutig als Ursprung verlinkt werden
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
24
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
25
// + Benutzung auf eigene Gefahr
25
// + Benutzung auf eigene Gefahr
26
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
26
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
27
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
28
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
28
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
29
// + mit unserer Zustimmung zulässig
29
// + mit unserer Zustimmung zulässig
30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
32
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
33
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
33
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
34
// + this list of conditions and the following disclaimer.
34
// + this list of conditions and the following disclaimer.
35
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
35
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
36
// +     from this software without specific prior written permission.
36
// +     from this software without specific prior written permission.
37
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
37
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permitted
38
// +     for non-commercial use (directly or indirectly)
38
// +     for non-commercial use (directly or indirectly)
39
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
39
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
40
// +     with our written permission
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// +     with our written permission
41
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
42
// +     clearly linked as origin
42
// +     clearly linked as origin
43
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
43
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
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//
44
//
45
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
45
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
46
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
47
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
48
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
48
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
49
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
49
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
50
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
50
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
51
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
51
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
52
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
52
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
53
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
53
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
54
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
54
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
55
// +  POSSIBILITY OF SUCH DAMAGE.
55
// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "91x_lib.h"
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#include "91x_lib.h"
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#include "compass.h"
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#include "compass.h"
59
#include "mk3mag.h"
59
#include "mk3mag.h"
60
#include "ncmag.h"
60
#include "ncmag.h"
61
#include "spi_slave.h"
61
#include "spi_slave.h"
62
#include "mymath.h"
62
#include "mymath.h"
63
#include "uart1.h"
63
#include "uart1.h"
64
#include "fifo.h"
64
#include "fifo.h"
65
#include "led.h"
65
#include "led.h"
66
#include "main.h"
66
#include "main.h"
67
 
67
 
68
u8 CompassCalStateQueue[10];
68
u8 CompassCalStateQueue[10];
69
fifo_t CompassCalcStateFiFo;
69
fifo_t CompassCalcStateFiFo;
70
 
70
 
71
volatile s16vec_t MagVector;   // is written by mk3mag or ncmag implementation
71
volatile s16vec_t MagVector;   // is written by mk3mag or ncmag implementation
72
volatile s16 Compass_Heading;   // is written by mk3mag or ncmag implementation
72
volatile s16 Compass_Heading;   // is written by mk3mag or ncmag implementation
73
volatile u8  Compass_CalState; // is written by mk3mag or ncmag implementation
73
volatile u8  Compass_CalState; // is written by mk3mag or ncmag implementation
74
 
74
 
75
#define COMPASS_NONE    0
75
#define COMPASS_NONE    0
76
#define COMPASS_MK3MAG  1
76
#define COMPASS_MK3MAG  1
77
#define COMPASS_NCMAG   2
77
#define COMPASS_NCMAG   2
78
u8 Compass_Device = COMPASS_NONE;
78
u8 Compass_Device = COMPASS_NONE;
79
 
79
 
80
void Compass_Init(void)
80
void Compass_Init(void)
81
{
81
{
82
        switch(Compass_Device)
82
        switch(Compass_Device)
83
        {
83
        {
84
                case COMPASS_NONE:
84
                case COMPASS_NONE:
85
                        UART1_PutString("\r\n Looking for compass");
85
                        UART1_PutString("\r\n Looking for compass");
86
                        if(Version_HW > 11)
86
                        if(Version_HW > 11)
87
                        {
87
                        {
88
                                if(      NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
88
                                if(      NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
89
                                else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG;
89
                                else if( MK3MAG_Init()) Compass_Device = COMPASS_MK3MAG;
90
                        }
90
                        }
91
                        else
91
                        else
92
                        {
92
                        {
93
                                if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
93
                                if(     MK3MAG_Init() ) Compass_Device = COMPASS_MK3MAG;
94
                                else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
94
                                else if( NCMAG_Init() ) Compass_Device = COMPASS_NCMAG;
95
                        }
95
                        }
96
                        break;
96
                        break;
97
 
97
 
98
                case COMPASS_NCMAG:
98
                case COMPASS_NCMAG:
99
                        if( NCMAG_Init() )      Compass_Device = COMPASS_NCMAG;
99
                        if( NCMAG_Init() )      Compass_Device = COMPASS_NCMAG;
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                        else                            Compass_Device = COMPASS_NONE;
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                        else                            Compass_Device = COMPASS_NONE;
101
                        break;
101
                        break;
102
 
102
 
103
                case COMPASS_MK3MAG:
103
                case COMPASS_MK3MAG:
104
                default:
104
                default:
105
                        // nothing to do
105
                        // nothing to do
106
                        break;
106
                        break;
107
 
107
 
108
        }
108
        }
109
        fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);
109
        fifo_init(&CompassCalcStateFiFo, CompassCalStateQueue, sizeof(CompassCalStateQueue), NO_ITLine, NO_ITLine);
110
}
110
}
111
 
111
 
112
 
112
 
113
void Compass_CalcHeading(void)
113
void Compass_CalcHeading(void)
114
{
114
{
115
        if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState)
115
        if((UART_VersionInfo.HardwareError[0] & NC_ERROR0_SPI_RX) || Compass_CalState)
116
        {
116
        {
117
                Compass_Heading = -1;
117
                Compass_Heading = -1;
118
        }
118
        }
119
        else // fc attitude is avialable and no compass calibration active
119
        else // fc attitude is avialable and no compass calibration active
120
        {
120
        {
121
                // calculate attitude correction
121
                // calculate attitude correction
122
                // a float implementation takes too long
122
                // a float implementation takes too long
123
                s16 tmp, Hx, Hy;
123
                s16 tmp, Hx, Hy;
124
                s32 sinnick, cosnick, sinroll, cosroll;
124
                s32 sinnick, cosnick, sinroll, cosroll;
125
 
125
 
126
                tmp = FromFlightCtrl.AngleNick/10; // in deg
126
                tmp = FromFlightCtrl.AngleNick/10; // in deg
127
                sinnick = (s32)c_sin_8192(tmp);
127
                sinnick = (s32)c_sin_8192(tmp);
128
                cosnick = (s32)c_cos_8192(tmp);
128
                cosnick = (s32)c_cos_8192(tmp);
129
                tmp = FromFlightCtrl.AngleRoll/10; // in deg
129
                tmp = FromFlightCtrl.AngleRoll/10; // in deg
130
                sinroll = (s32)c_sin_8192(tmp);
130
                sinroll = (s32)c_sin_8192(tmp);
131
                cosroll = (s32)c_cos_8192(tmp);
131
                cosroll = (s32)c_cos_8192(tmp);
132
                // tbd. compensation signs and oriantation has to be fixed
132
                // tbd. compensation signs and oriantation has to be fixed
133
                Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
133
                Hx = (s16)((MagVector.Y * cosnick + MagVector.Z * sinnick)/8192L);
134
                Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);
134
                Hy = (s16)((MagVector.X * cosroll - MagVector.Z * sinroll)/8192L);
135
                // calculate heading
135
                // calculate heading
136
                tmp = (s16)(c_atan2_546(Hy, Hx)/546L);
136
                tmp = (s16)(c_atan2_546(Hy, Hx)/546L);
137
                if (tmp > 0) tmp = 360 - tmp;
137
                if (tmp > 0) tmp = 360 - tmp;
138
                else tmp = -tmp;
138
                else tmp = -tmp;
139
                Compass_Heading = tmp;
139
                Compass_Heading = tmp;
140
        }
140
        }
141
}
141
}
142
 
142
 
143
void Compass_Update(void)
143
void Compass_Update(void)
144
{
144
{
145
static s16vec_t old;  
145
static s16vec_t old;  
146
static u32 check_value_counter = 0;
146
static u32 check_value_counter = 0;
147
        // check for new cal state
147
        // check for new cal state
148
        Compass_UpdateCalState();
148
        Compass_UpdateCalState();
149
        // initiate new compass communication
149
        // initiate new compass communication
150
        switch(Compass_Device)
150
        switch(Compass_Device)
151
        {
151
        {
152
                case COMPASS_MK3MAG:
152
                case COMPASS_MK3MAG:
153
                        MK3MAG_Update();
153
                        MK3MAG_Update();
154
                        break;
154
                        break;
155
                case COMPASS_NCMAG:
155
                case COMPASS_NCMAG:
156
                        NCMAG_Update();
156
                        NCMAG_Update();
157
                default:
157
                default:
158
                        break;
158
                        break;
159
        }
159
        }
160
        DebugOut.Analog[24] = MagVector.X;
160
        DebugOut.Analog[24] = MagVector.X;
161
        DebugOut.Analog[25] = MagVector.Y;
161
        DebugOut.Analog[25] = MagVector.Y;
162
        DebugOut.Analog[26] = MagVector.Z;
162
        DebugOut.Analog[26] = MagVector.Z;
163
    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing
163
    if(!((old.X == MagVector.X) || (old.Y == MagVector.Y) || (old.Z == MagVector.Z))) check_value_counter = 0; // Values are normally changing
164
 
164
 
165
        if(check_value_counter > 5000)
165
        if(check_value_counter > 5000)
166
         {
166
         {
167
          Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
167
          Compass_Heading = -1; // values didn't change for 5 seconds -> probably a compass-fault
168
         }
168
         }
169
         else check_value_counter++;
169
         else check_value_counter++;
170
 
-
 
171
DebugOut.Analog[16] = check_value_counter;
-
 
172
 
170
 
173
        old.X = MagVector.X;
171
        old.X = MagVector.X;
174
        old.Y = MagVector.Y;
172
        old.Y = MagVector.Y;
175
        old.Z = MagVector.Z;
173
        old.Z = MagVector.Z;
176
}
174
}
177
 
175
 
178
// put cal state into fifo
176
// put cal state into fifo
179
void Compass_SetCalState(u8 CalState)
177
void Compass_SetCalState(u8 CalState)
180
{
178
{
181
        fifo_put(&CompassCalcStateFiFo, CalState);
179
        fifo_put(&CompassCalcStateFiFo, CalState);
182
}
180
}
183
 
181
 
184
// get cal state from fifo
182
// get cal state from fifo
185
void Compass_UpdateCalState()
183
void Compass_UpdateCalState()
186
{
184
{
187
        fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState);
185
        fifo_get(&CompassCalcStateFiFo, (u8*)&Compass_CalState);
188
}
186
}
189
 
187
 
190
 
188